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<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Driver for the DPPTU.  
 <a href="classArDPPTU.html#details">More...</a></p>

<p><code>#include &lt;ArDPPTU.h&gt;</code></p>

<p>Inherits <a class="el" href="classArPTZ.html">ArPTZ</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a387b76b5dfe9aeffa4f4f8fb895a8826"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a387b76b5dfe9aeffa4f4f8fb895a8826"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>Axis</b> { <b>PAN</b> = 'P', 
<b>TILT</b> = 'T'
 }</td></tr>
<tr class="separator:a387b76b5dfe9aeffa4f4f8fb895a8826"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7777a8c7419aaadd5a31aa7e90b4321c"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321c">DeviceType</a> { <a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321ca002100fdca0caded94de852b5b6a5197">PANTILT_DEFAULT</a>, 
<a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321ca029fca3bc395e885d3e3e9364305a508">PANTILT_PTUD47</a>, 
<a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321cabfa01db559586814bf1bd9119ac07d60">PANTILT_PTUD46</a>
 }</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac6a0d92c900d2d561b7f04c332f8c65a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ac6a0d92c900d2d561b7f04c332f8c65a">ArDPPTU</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot, <a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321c">DeviceType</a> deviceType=<a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321ca002100fdca0caded94de852b5b6a5197">PANTILT_DEFAULT</a>, int deviceIndex=-1)</td></tr>
<tr class="memdesc:ac6a0d92c900d2d561b7f04c332f8c65a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#ac6a0d92c900d2d561b7f04c332f8c65a">More...</a><br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ac1a3c1a1b13db347ec5d0b6db11d18b5">awaitExec</a> (void)</td></tr>
<tr class="memdesc:ac1a3c1a1b13db347ec5d0b6db11d18b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instructs unit to await completion of the last issued command. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a82e6b6dda54198a2dfca2e2d01e93ce1">basePanSlew</a> (double deg)</td></tr>
<tr class="memdesc:a82e6b6dda54198a2dfca2e2d01e93ce1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the start-up pan slew. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ad353e542682358c87696fd4b5adde92f">baseTiltSlew</a> (double deg)</td></tr>
<tr class="memdesc:ad353e542682358c87696fd4b5adde92f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the start-up tilt slew. <br /></td></tr>
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<tr class="memitem:a8175034e266855d1b78698ff663273db"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a8175034e266855d1b78698ff663273db">blank</a> (void)</td></tr>
<tr class="memdesc:a8175034e266855d1b78698ff663273db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends a delimiter only.  <a href="#a8175034e266855d1b78698ff663273db">More...</a><br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canGetRealPanTilt</b> () const </td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>canPanTiltSlew</b> ()</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canZoom</b> (void) const </td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPanAccel</b> (void)</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPanSlew</b> (void)</td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPanSpeed</b> ()</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxTiltAccel</b> (void)</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxTiltSlew</b> (void)</td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxTiltSpeed</b> ()</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinPanAccel</b> (void)</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinPanSlew</b> (void)</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinTiltAccel</b> (void)</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinTiltSlew</b> (void)</td></tr>
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virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><b>getTypeName</b> ()</td></tr>
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<tr class="memitem:a1ff6d0d801f0c725dd363ac7ce18e45b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1ff6d0d801f0c725dd363ac7ce18e45b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a1ff6d0d801f0c725dd363ac7ce18e45b">haltAll</a> (void)</td></tr>
<tr class="memdesc:a1ff6d0d801f0c725dd363ac7ce18e45b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halts all pan-tilt movement. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#abb8bf45def2b044560e3cc70301718ed">haltPan</a> (void)</td></tr>
<tr class="memdesc:abb8bf45def2b044560e3cc70301718ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halts pan axis movement. <br /></td></tr>
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<tr class="memitem:a3b845551c0076f7140af90f2c2949424"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3b845551c0076f7140af90f2c2949424"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a3b845551c0076f7140af90f2c2949424">haltTilt</a> (void)</td></tr>
<tr class="memdesc:a3b845551c0076f7140af90f2c2949424"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halts tilt axis movement. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a4bc1b5c261b6c9b62b6fabd2edcc71a2">indepMove</a> (void)</td></tr>
<tr class="memdesc:a4bc1b5c261b6c9b62b6fabd2edcc71a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets motion to indenpendent control mode. <br /></td></tr>
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<tr class="memitem:ab51e889c328177c8d3fbacbdacb21b20"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ab51e889c328177c8d3fbacbdacb21b20">init</a> (void)</td></tr>
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<tr class="memitem:ac414936666e43ab1b9424efc5f38e2d6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac414936666e43ab1b9424efc5f38e2d6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ac414936666e43ab1b9424efc5f38e2d6">initMon</a> (double deg1, double deg2, double deg3, double deg4)</td></tr>
<tr class="memdesc:ac414936666e43ab1b9424efc5f38e2d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets monitor mode - pan pos1/pos2, tilt pos1/pos2. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a7830a768092cc96d41b1e8e721e05770">limitEnforce</a> (bool val)</td></tr>
<tr class="memdesc:a7830a768092cc96d41b1e8e721e05770"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables or disables the position limit enforcement. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ae1d48812833343d828bf286d23c18b74">lowerPanSlew</a> (double deg)</td></tr>
<tr class="memdesc:ae1d48812833343d828bf286d23c18b74"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the lower pan slew. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#aa9cf8501391c67c467872c06d09d80fe">lowerTiltSlew</a> (double deg)</td></tr>
<tr class="memdesc:aa9cf8501391c67c467872c06d09d80fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the lower pan slew. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a5b090669d63dbc22fc9c3a4da92a3c3b">panAccel</a> (double deg)</td></tr>
<tr class="memdesc:a5b090669d63dbc22fc9c3a4da92a3c3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets acceleration for pan axis. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a663de05d75402c53ecb1a707b5cfde9f">panSlew</a> (double deg)</td></tr>
<tr class="memdesc:a663de05d75402c53ecb1a707b5cfde9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rate that the unit pans at. <br /></td></tr>
<tr class="separator:a663de05d75402c53ecb1a707b5cfde9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae28b6bd9301d338b9c3a2df466ec7deb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae28b6bd9301d338b9c3a2df466ec7deb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ae28b6bd9301d338b9c3a2df466ec7deb">panSlewRel</a> (double deg)</td></tr>
<tr class="memdesc:ae28b6bd9301d338b9c3a2df466ec7deb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rate that the unit pans at, relative to current slew. <br /></td></tr>
<tr class="separator:ae28b6bd9301d338b9c3a2df466ec7deb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f2feec8b9fd548b83a0dc9cadbc1f39"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5f2feec8b9fd548b83a0dc9cadbc1f39"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a5f2feec8b9fd548b83a0dc9cadbc1f39">resetCalib</a> (void)</td></tr>
<tr class="memdesc:a5f2feec8b9fd548b83a0dc9cadbc1f39"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform reset calibration (PTU will move to the limits of pan and tilt axes in turn and return to 0,0) <br /></td></tr>
<tr class="separator:a5f2feec8b9fd548b83a0dc9cadbc1f39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa714445866694f5f5d51a0a942a95fe2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa714445866694f5f5d51a0a942a95fe2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#aa714445866694f5f5d51a0a942a95fe2">tiltAccel</a> (double deg)</td></tr>
<tr class="memdesc:aa714445866694f5f5d51a0a942a95fe2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets acceleration for tilt axis. <br /></td></tr>
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<tr class="memitem:a541558e3daca428c389075514ad13f67"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a541558e3daca428c389075514ad13f67"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a541558e3daca428c389075514ad13f67">tiltSlew</a> (double deg)</td></tr>
<tr class="memdesc:a541558e3daca428c389075514ad13f67"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rate the unit tilts at. <br /></td></tr>
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<tr class="memitem:a2dc7dfc8d2179f464b0d52b60a2db4da"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2dc7dfc8d2179f464b0d52b60a2db4da"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a2dc7dfc8d2179f464b0d52b60a2db4da">tiltSlewRel</a> (double deg)</td></tr>
<tr class="memdesc:a2dc7dfc8d2179f464b0d52b60a2db4da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rate the unit tilts at, relative to current slew. <br /></td></tr>
<tr class="separator:a2dc7dfc8d2179f464b0d52b60a2db4da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1f96a5f696cd22dff6cf46d0fd970e0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa1f96a5f696cd22dff6cf46d0fd970e0"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#aa1f96a5f696cd22dff6cf46d0fd970e0">upperPanSlew</a> (double deg)</td></tr>
<tr class="memdesc:aa1f96a5f696cd22dff6cf46d0fd970e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the upper pan slew. <br /></td></tr>
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<tr class="memitem:a7341dcea86b312ae7681384c92bf1262"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7341dcea86b312ae7681384c92bf1262"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a7341dcea86b312ae7681384c92bf1262">upperTiltSlew</a> (double deg)</td></tr>
<tr class="memdesc:a7341dcea86b312ae7681384c92bf1262"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the upper tilt slew. <br /></td></tr>
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<tr class="memitem:a8e23866f7f3cee82a59f49d0015e573a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8e23866f7f3cee82a59f49d0015e573a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a8e23866f7f3cee82a59f49d0015e573a">velMove</a> (void)</td></tr>
<tr class="memdesc:a8e23866f7f3cee82a59f49d0015e573a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets motion to pure velocity control mode. <br /></td></tr>
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<tr class="memitem:a2fe512895543ad4a19a8a066acd7173b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2fe512895543ad4a19a8a066acd7173b"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a2fe512895543ad4a19a8a066acd7173b">~ArDPPTU</a> ()</td></tr>
<tr class="memdesc:a2fe512895543ad4a19a8a066acd7173b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:a8a0c73d57763691ba8e187309b6ea1b6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a8a0c73d57763691ba8e187309b6ea1b6">disableReset</a> (void)</td></tr>
<tr class="memdesc:a8a0c73d57763691ba8e187309b6ea1b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change stored configuration options.  <a href="#a8a0c73d57763691ba8e187309b6ea1b6">More...</a><br /></td></tr>
<tr class="separator:a8a0c73d57763691ba8e187309b6ea1b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63a7aafcf8a37bb76fcd1a7cf5b836c5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a63a7aafcf8a37bb76fcd1a7cf5b836c5"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a63a7aafcf8a37bb76fcd1a7cf5b836c5">resetTilt</a> (void)</td></tr>
<tr class="memdesc:a63a7aafcf8a37bb76fcd1a7cf5b836c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure DPPTU to only reset tilt on future power-up. <br /></td></tr>
<tr class="separator:a63a7aafcf8a37bb76fcd1a7cf5b836c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadec809a7ef10325bbcd96025d7d4720"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aadec809a7ef10325bbcd96025d7d4720"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#aadec809a7ef10325bbcd96025d7d4720">resetPan</a> (void)</td></tr>
<tr class="memdesc:aadec809a7ef10325bbcd96025d7d4720"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure DPPTU to only reset pan on future power up. <br /></td></tr>
<tr class="separator:aadec809a7ef10325bbcd96025d7d4720"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac94e34cf0d0126ef91c21026c81806c0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac94e34cf0d0126ef91c21026c81806c0"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ac94e34cf0d0126ef91c21026c81806c0">resetAll</a> (void)</td></tr>
<tr class="memdesc:ac94e34cf0d0126ef91c21026c81806c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure DPPTU to reset both pan and tilt on future power on. <br /></td></tr>
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<tr class="memitem:a9028ec3497a58a82e7941b1c3a303f31"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9028ec3497a58a82e7941b1c3a303f31"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a9028ec3497a58a82e7941b1c3a303f31">enMon</a> (void)</td></tr>
<tr class="memdesc:a9028ec3497a58a82e7941b1c3a303f31"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables monitor mode at power up. <br /></td></tr>
<tr class="separator:a9028ec3497a58a82e7941b1c3a303f31"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c3dac310878f5473a10ef9ffee960ce"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9c3dac310878f5473a10ef9ffee960ce"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a9c3dac310878f5473a10ef9ffee960ce">disMon</a> (void)</td></tr>
<tr class="memdesc:a9c3dac310878f5473a10ef9ffee960ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables monitor mode at power up. <br /></td></tr>
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<tr class="memitem:a9f4b914f975c087488df169f54e9e9df"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9f4b914f975c087488df169f54e9e9df"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a9f4b914f975c087488df169f54e9e9df">saveSet</a> (void)</td></tr>
<tr class="memdesc:a9f4b914f975c087488df169f54e9e9df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save current settings as defaults. <br /></td></tr>
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<tr class="memitem:a900c95cda18f64070e81064dbbb7ce55"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a900c95cda18f64070e81064dbbb7ce55"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a900c95cda18f64070e81064dbbb7ce55">restoreSet</a> (void)</td></tr>
<tr class="memdesc:a900c95cda18f64070e81064dbbb7ce55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore stored defaults. <br /></td></tr>
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<tr class="memitem:a62b0ceb424f3eaf50100f143ca9671c4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a62b0ceb424f3eaf50100f143ca9671c4"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a62b0ceb424f3eaf50100f143ca9671c4">factorySet</a> (void)</td></tr>
<tr class="memdesc:a62b0ceb424f3eaf50100f143ca9671c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore factory defaults. <br /></td></tr>
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<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:ad7a7ca847851357cb8c85996493db5a5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ad7a7ca847851357cb8c85996493db5a5">immedExec</a> (void)</td></tr>
<tr class="memdesc:ad7a7ca847851357cb8c85996493db5a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set execution modes.  <a href="#ad7a7ca847851357cb8c85996493db5a5">More...</a><br /></td></tr>
<tr class="separator:ad7a7ca847851357cb8c85996493db5a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af04c78d4bb1202f37ec40785879c55ff"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af04c78d4bb1202f37ec40785879c55ff"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#af04c78d4bb1202f37ec40785879c55ff">slaveExec</a> (void)</td></tr>
<tr class="memdesc:af04c78d4bb1202f37ec40785879c55ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets unit to slaved-execution mode for positional commands. Commands will not be executed by PTU until <a class="el" href="classArDPPTU.html#ac1a3c1a1b13db347ec5d0b6db11d18b5" title="Instructs unit to await completion of the last issued command. ">awaitExec()</a> is used. <br /></td></tr>
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<tr class="inherit_header pub_methods_classArPTZ"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArPTZ')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArPTZ.html">ArPTZ</a></td></tr>
<tr class="memitem:a6cf3bdfcadf28cd9f2bbf90d8139ab55 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a6cf3bdfcadf28cd9f2bbf90d8139ab55">ArPTZ</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="separator:a6cf3bdfcadf28cd9f2bbf90d8139ab55 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4ca5b3e1be2ee119d15f65fe68a5888 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab4ca5b3e1be2ee119d15f65fe68a5888"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ab4ca5b3e1be2ee119d15f65fe68a5888">canGetFOV</a> (void)</td></tr>
<tr class="memdesc:ab4ca5b3e1be2ee119d15f65fe68a5888 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether we can get the FOV (field of view) or not. <br /></td></tr>
<tr class="separator:ab4ca5b3e1be2ee119d15f65fe68a5888 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55319bacfbe4957906921e8adc91931d inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a55319bacfbe4957906921e8adc91931d"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a55319bacfbe4957906921e8adc91931d">canGetRealZoom</a> (void) const </td></tr>
<tr class="memdesc:a55319bacfbe4957906921e8adc91931d inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether <a class="el" href="classArPTZ.html#a3fa77b2691a7cd7ae9f823ba9271a33a" title="The amount the camera is zoomed to (or last commanded value sent, if unable to obtain real pan positi...">getZoom()</a> returns the device's real zoom amount, or last commanded zoom position. <br /></td></tr>
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<tr class="memitem:a119236ee8a07d43f7fb0b3fe00e6d9b9 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a119236ee8a07d43f7fb0b3fe00e6d9b9"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a119236ee8a07d43f7fb0b3fe00e6d9b9">canSetFocus</a> (void) const </td></tr>
<tr class="memdesc:a119236ee8a07d43f7fb0b3fe00e6d9b9 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">If the driver can set the focus on the camera, or not. <br /></td></tr>
<tr class="separator:a119236ee8a07d43f7fb0b3fe00e6d9b9 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32a5b100581efdb0d9c3d014bf1bd01e inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a32a5b100581efdb0d9c3d014bf1bd01e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a32a5b100581efdb0d9c3d014bf1bd01e">canSetGain</a> (void) const </td></tr>
<tr class="memdesc:a32a5b100581efdb0d9c3d014bf1bd01e inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">If the driver can set gain on the camera, or not. <br /></td></tr>
<tr class="separator:a32a5b100581efdb0d9c3d014bf1bd01e inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47b5b46bcd96a1e353e975823ee699cf inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a47b5b46bcd96a1e353e975823ee699cf">canSetSpeed</a> ()</td></tr>
<tr class="memdesc:a47b5b46bcd96a1e353e975823ee699cf inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Can pan and tilt speed (slew rates) be set to move device?  <a href="#a47b5b46bcd96a1e353e975823ee699cf">More...</a><br /></td></tr>
<tr class="separator:a47b5b46bcd96a1e353e975823ee699cf inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adef045e90f521a77f9bfc2d99e3a95d0 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adef045e90f521a77f9bfc2d99e3a95d0"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#adef045e90f521a77f9bfc2d99e3a95d0">connectHandler</a> (void)</td></tr>
<tr class="memdesc:adef045e90f521a77f9bfc2d99e3a95d0 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal, attached to robot, inits the camera when robot connects. <br /></td></tr>
<tr class="separator:adef045e90f521a77f9bfc2d99e3a95d0 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0877c07c65573657b4d24866611802e5 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0877c07c65573657b4d24866611802e5"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a0877c07c65573657b4d24866611802e5">getAuxPort</a> (void)</td></tr>
<tr class="memdesc:a0877c07c65573657b4d24866611802e5 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the port the device is set to communicate on. <br /></td></tr>
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<tr class="memitem:ad2e327ae16f4d1acacdbafad884db46c inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad2e327ae16f4d1acacdbafad884db46c"></a>
virtual <a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ad2e327ae16f4d1acacdbafad884db46c">getDeviceConnection</a> (void)</td></tr>
<tr class="memdesc:ad2e327ae16f4d1acacdbafad884db46c inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the device connection used by this PTZ camera. <br /></td></tr>
<tr class="separator:ad2e327ae16f4d1acacdbafad884db46c inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a13b9d4b3baa22e9b6801d01cc5737075 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13b9d4b3baa22e9b6801d01cc5737075"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a13b9d4b3baa22e9b6801d01cc5737075">getFocus</a> (double focus) const </td></tr>
<tr class="memdesc:a13b9d4b3baa22e9b6801d01cc5737075 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the focus the camera is set to. 0 if not supported. <br /></td></tr>
<tr class="separator:a13b9d4b3baa22e9b6801d01cc5737075 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab36cb8cbef420550ab48d68775ed3f83 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab36cb8cbef420550ab48d68775ed3f83"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ab36cb8cbef420550ab48d68775ed3f83">getFOVAtMaxZoom</a> (void)</td></tr>
<tr class="memdesc:ab36cb8cbef420550ab48d68775ed3f83 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the field of view at maximum zoom. <br /></td></tr>
<tr class="separator:ab36cb8cbef420550ab48d68775ed3f83 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2aaa084407e91a58c762f3576516843 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa2aaa084407e91a58c762f3576516843"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#aa2aaa084407e91a58c762f3576516843">getFOVAtMinZoom</a> (void)</td></tr>
<tr class="memdesc:aa2aaa084407e91a58c762f3576516843 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the field of view at minimum zoom. <br /></td></tr>
<tr class="separator:aa2aaa084407e91a58c762f3576516843 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acab19a3e31eba42189b640f594ea94f1 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acab19a3e31eba42189b640f594ea94f1"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#acab19a3e31eba42189b640f594ea94f1">getGain</a> (double gain) const </td></tr>
<tr class="memdesc:acab19a3e31eba42189b640f594ea94f1 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the gain the camera is set to. 0 if not supported. <br /></td></tr>
<tr class="separator:acab19a3e31eba42189b640f594ea94f1 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e0225d1ea1e322e0753f07665d7b34d inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e0225d1ea1e322e0753f07665d7b34d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a7e0225d1ea1e322e0753f07665d7b34d">getInverted</a> ()</td></tr>
<tr class="memdesc:a7e0225d1ea1e322e0753f07665d7b34d inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed. <br /></td></tr>
<tr class="separator:a7e0225d1ea1e322e0753f07665d7b34d inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4dcefee2f9373bc949e9e205fbc7a505 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4dcefee2f9373bc949e9e205fbc7a505"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a4dcefee2f9373bc949e9e205fbc7a505">getMaxNegPan</a> (void) const </td></tr>
<tr class="memdesc:a4dcefee2f9373bc949e9e205fbc7a505 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:a4dcefee2f9373bc949e9e205fbc7a505 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a389a3eb3ea39bd8f3cc706afb6e576d3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a389a3eb3ea39bd8f3cc706afb6e576d3"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a389a3eb3ea39bd8f3cc706afb6e576d3">getMaxNegTilt</a> (void) const </td></tr>
<tr class="memdesc:a389a3eb3ea39bd8f3cc706afb6e576d3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:a389a3eb3ea39bd8f3cc706afb6e576d3 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a470a9501a6b9aa9a984f58dab7481449 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a470a9501a6b9aa9a984f58dab7481449">getMaxPan</a> () const </td></tr>
<tr class="memdesc:a470a9501a6b9aa9a984f58dab7481449 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can pan to (inverted if camera is inverted)  <a href="#a470a9501a6b9aa9a984f58dab7481449">More...</a><br /></td></tr>
<tr class="separator:a470a9501a6b9aa9a984f58dab7481449 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f3c4f0c3f0950c892e605ffec34bc86 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1f3c4f0c3f0950c892e605ffec34bc86"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a1f3c4f0c3f0950c892e605ffec34bc86">getMaxPosPan</a> (void) const </td></tr>
<tr class="memdesc:a1f3c4f0c3f0950c892e605ffec34bc86 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can pan to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:a1f3c4f0c3f0950c892e605ffec34bc86 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf6fb70e256999e62aa5c001f4a59596 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adf6fb70e256999e62aa5c001f4a59596"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#adf6fb70e256999e62aa5c001f4a59596">getMaxPosTilt</a> (void) const </td></tr>
<tr class="memdesc:adf6fb70e256999e62aa5c001f4a59596 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:adf6fb70e256999e62aa5c001f4a59596 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23a54d4c5334f7dfde331e91e389f093 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a23a54d4c5334f7dfde331e91e389f093">getMaxTilt</a> () const </td></tr>
<tr class="memdesc:a23a54d4c5334f7dfde331e91e389f093 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can tilt to (inverted if camera is inverted)  <a href="#a23a54d4c5334f7dfde331e91e389f093">More...</a><br /></td></tr>
<tr class="separator:a23a54d4c5334f7dfde331e91e389f093 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbe4dd5593dc638005a7c0dfbdd5de37 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbe4dd5593dc638005a7c0dfbdd5de37"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#adbe4dd5593dc638005a7c0dfbdd5de37">getMaxZoom</a> (void) const </td></tr>
<tr class="memdesc:adbe4dd5593dc638005a7c0dfbdd5de37 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the maximum value for the zoom on this camera. <br /></td></tr>
<tr class="separator:adbe4dd5593dc638005a7c0dfbdd5de37 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5e9a1c0a7e31c002c40440475997250 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af5e9a1c0a7e31c002c40440475997250">getMinPan</a> () const </td></tr>
<tr class="memdesc:af5e9a1c0a7e31c002c40440475997250 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can pan to (inverted if camera is inverted)  <a href="#af5e9a1c0a7e31c002c40440475997250">More...</a><br /></td></tr>
<tr class="separator:af5e9a1c0a7e31c002c40440475997250 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3158b7894920926b3cbaf2e89d62d82 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ad3158b7894920926b3cbaf2e89d62d82">getMinTilt</a> () const </td></tr>
<tr class="memdesc:ad3158b7894920926b3cbaf2e89d62d82 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted)  <a href="#ad3158b7894920926b3cbaf2e89d62d82">More...</a><br /></td></tr>
<tr class="separator:ad3158b7894920926b3cbaf2e89d62d82 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae89a0e1f2458e59625c4849944b0c8ca inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae89a0e1f2458e59625c4849944b0c8ca"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ae89a0e1f2458e59625c4849944b0c8ca">getMinZoom</a> (void) const </td></tr>
<tr class="memdesc:ae89a0e1f2458e59625c4849944b0c8ca inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest value for the zoom on this camera. <br /></td></tr>
<tr class="separator:ae89a0e1f2458e59625c4849944b0c8ca inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d76370937c1cb2170e7a07a0157d949 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a9d76370937c1cb2170e7a07a0157d949">getPan</a> (void) const </td></tr>
<tr class="memdesc:a9d76370937c1cb2170e7a07a0157d949 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan position)  <a href="#a9d76370937c1cb2170e7a07a0157d949">More...</a><br /></td></tr>
<tr class="separator:a9d76370937c1cb2170e7a07a0157d949 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a710d7180edd16a2ce3f86fa258daff68 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a710d7180edd16a2ce3f86fa258daff68"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a710d7180edd16a2ce3f86fa258daff68">getRobot</a> ()</td></tr>
<tr class="memdesc:a710d7180edd16a2ce3f86fa258daff68 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object this PTZ is associated with. May be NULL. <br /></td></tr>
<tr class="separator:a710d7180edd16a2ce3f86fa258daff68 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9f4ff90958537f6bdc095e9ed12ebe6 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ae9f4ff90958537f6bdc095e9ed12ebe6">getTilt</a> (void) const </td></tr>
<tr class="memdesc:ae9f4ff90958537f6bdc095e9ed12ebe6 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan position)  <a href="#ae9f4ff90958537f6bdc095e9ed12ebe6">More...</a><br /></td></tr>
<tr class="separator:ae9f4ff90958537f6bdc095e9ed12ebe6 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fa77b2691a7cd7ae9f823ba9271a33a inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a3fa77b2691a7cd7ae9f823ba9271a33a">getZoom</a> (void) const </td></tr>
<tr class="memdesc:a3fa77b2691a7cd7ae9f823ba9271a33a inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">The amount the camera is zoomed to (or last commanded value sent, if unable to obtain real pan position)  <a href="#a3fa77b2691a7cd7ae9f823ba9271a33a">More...</a><br /></td></tr>
<tr class="separator:a3fa77b2691a7cd7ae9f823ba9271a33a inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5999b31048e3e9dce664c5dcea6c6469 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5999b31048e3e9dce664c5dcea6c6469"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a5999b31048e3e9dce664c5dcea6c6469">haltPanTilt</a> ()</td></tr>
<tr class="memdesc:a5999b31048e3e9dce664c5dcea6c6469 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halt any pan/tilt movement, if device supports it. <br /></td></tr>
<tr class="separator:a5999b31048e3e9dce664c5dcea6c6469 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b16aaf1b7dc7c879a4a17eda28f88fb inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b16aaf1b7dc7c879a4a17eda28f88fb"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a6b16aaf1b7dc7c879a4a17eda28f88fb">haltZoom</a> ()</td></tr>
<tr class="memdesc:a6b16aaf1b7dc7c879a4a17eda28f88fb inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halt any zoom movement, if device supports that. <br /></td></tr>
<tr class="separator:a6b16aaf1b7dc7c879a4a17eda28f88fb inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5080255e0f228a996b264c2c6e01906f inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a5080255e0f228a996b264c2c6e01906f">packetHandler</a> (<a class="el" href="classArBasePacket.html">ArBasePacket</a> *packet)</td></tr>
<tr class="memdesc:a5080255e0f228a996b264c2c6e01906f inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Handles a packet that was read from the device.  <a href="#a5080255e0f228a996b264c2c6e01906f">More...</a><br /></td></tr>
<tr class="separator:a5080255e0f228a996b264c2c6e01906f inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a284e5582d1b05baa961463c8a8198de3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a284e5582d1b05baa961463c8a8198de3"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a284e5582d1b05baa961463c8a8198de3">pan</a> (double degrees)</td></tr>
<tr class="memdesc:a284e5582d1b05baa961463c8a8198de3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans to the given degrees. 0 is straight ahead, - is to the left, + to the right. <br /></td></tr>
<tr class="separator:a284e5582d1b05baa961463c8a8198de3 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a961a03bbd153b3361a711ef18c52513e inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a961a03bbd153b3361a711ef18c52513e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a961a03bbd153b3361a711ef18c52513e">panRel</a> (double degrees)</td></tr>
<tr class="memdesc:a961a03bbd153b3361a711ef18c52513e inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans relative to current position by given degrees. <br /></td></tr>
<tr class="separator:a961a03bbd153b3361a711ef18c52513e inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a451b080c77f0b6a1104db1752f48bece inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a451b080c77f0b6a1104db1752f48bece"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a451b080c77f0b6a1104db1752f48bece">panTilt</a> (double degreesPan, double degreesTilt)</td></tr>
<tr class="memdesc:a451b080c77f0b6a1104db1752f48bece inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans and tilts to the given degrees. <br /></td></tr>
<tr class="separator:a451b080c77f0b6a1104db1752f48bece inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6036f53a3305e6f0e84025b693057439 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6036f53a3305e6f0e84025b693057439"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a6036f53a3305e6f0e84025b693057439">panTiltRel</a> (double degreesPan, double degreesTilt)</td></tr>
<tr class="memdesc:a6036f53a3305e6f0e84025b693057439 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans and tilts relatives to the current position by the given degrees. <br /></td></tr>
<tr class="separator:a6036f53a3305e6f0e84025b693057439 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b4a5e0245ea974434fac47e07b32be8 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a5b4a5e0245ea974434fac47e07b32be8">reset</a> (void)</td></tr>
<tr class="memdesc:a5b4a5e0245ea974434fac47e07b32be8 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets the camera.  <a href="#a5b4a5e0245ea974434fac47e07b32be8">More...</a><br /></td></tr>
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<tr class="memitem:aaa03afae5d2ce2928d8be9e093cf444a inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#aaa03afae5d2ce2928d8be9e093cf444a">robotPacketHandler</a> (<a class="el" href="classArRobotPacket.html">ArRobotPacket</a> *packet)</td></tr>
<tr class="memdesc:aaa03afae5d2ce2928d8be9e093cf444a inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Handles a packet that was read by the robot.  <a href="#aaa03afae5d2ce2928d8be9e093cf444a">More...</a><br /></td></tr>
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<tr class="memitem:af54c78e35932bbbdbf3a13b55248ebf3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af54c78e35932bbbdbf3a13b55248ebf3">sendPacket</a> (<a class="el" href="classArBasePacket.html">ArBasePacket</a> *packet)</td></tr>
<tr class="memdesc:af54c78e35932bbbdbf3a13b55248ebf3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends a given packet to the camera (via robot or serial port, depending)  <a href="#af54c78e35932bbbdbf3a13b55248ebf3">More...</a><br /></td></tr>
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<tr class="memitem:a2fcdd100e22ead53fbd69b7e619fd14c inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2fcdd100e22ead53fbd69b7e619fd14c"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a2fcdd100e22ead53fbd69b7e619fd14c">sensorInterpHandler</a> (void)</td></tr>
<tr class="memdesc:a2fcdd100e22ead53fbd69b7e619fd14c inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal, for attaching to the robots sensor interp to read serial port. <br /></td></tr>
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<tr class="memitem:a5f4b03e9d9e99581b1000d8258c6a1be inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5f4b03e9d9e99581b1000d8258c6a1be"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a5f4b03e9d9e99581b1000d8258c6a1be">setAutoFocus</a> (bool af=true)</td></tr>
<tr class="memdesc:a5f4b03e9d9e99581b1000d8258c6a1be inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable/enable autofocus mode if possible. Return false if can't change autofocus mode. <br /></td></tr>
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<tr class="memitem:ac66ea3fad07e4f1a06e6a482059e2c96 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac66ea3fad07e4f1a06e6a482059e2c96">setAuxPort</a> (int auxPort)</td></tr>
<tr class="memdesc:ac66ea3fad07e4f1a06e6a482059e2c96 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the aux port on the robot to be used to communicate with this device.  <a href="#ac66ea3fad07e4f1a06e6a482059e2c96">More...</a><br /></td></tr>
<tr class="separator:ac66ea3fad07e4f1a06e6a482059e2c96 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2e1b00edab294cdacf1d05d1a75bf5b inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac2e1b00edab294cdacf1d05d1a75bf5b">setDeviceConnection</a> (<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *connection, bool driveFromRobotLoop=true)</td></tr>
<tr class="memdesc:ac2e1b00edab294cdacf1d05d1a75bf5b inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the device connection to be used by this PTZ camera, if set this camera will send commands via this connection, otherwise its via robot aux.  <a href="#ac2e1b00edab294cdacf1d05d1a75bf5b">More...</a><br /></td></tr>
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<tr class="memitem:acc46ed669fc193d5eca5c4716d93fb26 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#acc46ed669fc193d5eca5c4716d93fb26">setFocus</a> (double focus) const </td></tr>
<tr class="memdesc:acc46ed669fc193d5eca5c4716d93fb26 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set focus on camera, range of 1-100.  <a href="#acc46ed669fc193d5eca5c4716d93fb26">More...</a><br /></td></tr>
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<tr class="memitem:a37c0f3fcea79f9979894d25a339953ac inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a37c0f3fcea79f9979894d25a339953ac">setGain</a> (double gain) const </td></tr>
<tr class="memdesc:a37c0f3fcea79f9979894d25a339953ac inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set gain on camera, range of 1-100.  <a href="#a37c0f3fcea79f9979894d25a339953ac">More...</a><br /></td></tr>
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<tr class="memitem:acd0092aeb13d29dc4900818c5d819809 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acd0092aeb13d29dc4900818c5d819809"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#acd0092aeb13d29dc4900818c5d819809">setInverted</a> (bool inv)</td></tr>
<tr class="memdesc:acd0092aeb13d29dc4900818c5d819809 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed. <br /></td></tr>
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<tr class="memitem:a2ca6ce6f3808a6cf2c01f55c4edb975b inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a2ca6ce6f3808a6cf2c01f55c4edb975b">setPanSpeed</a> (double s)</td></tr>
<tr class="memdesc:a2ca6ce6f3808a6cf2c01f55c4edb975b inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pan slew rate (speed) (degrees/sec) if device supports it (see <a class="el" href="classArPTZ.html#a03c8f1ea4c5b669613a40db7b68d9a3e" title="Can pan and tilt speed (slew rates) be set to move device? ">canPanTiltSlew()</a>)  <a href="#a2ca6ce6f3808a6cf2c01f55c4edb975b">More...</a><br /></td></tr>
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<tr class="memitem:a2dd6d9bafa2b26f8ee482be2b49a5783 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2dd6d9bafa2b26f8ee482be2b49a5783"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a2dd6d9bafa2b26f8ee482be2b49a5783">setRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *r)</td></tr>
<tr class="memdesc:a2dd6d9bafa2b26f8ee482be2b49a5783 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object this PTZ is associated with. May be NULL. <br /></td></tr>
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<tr class="memitem:a4ad63f6a50f4be8fc4cbf58e77373301 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a4ad63f6a50f4be8fc4cbf58e77373301">setTiltSpeed</a> (double s)</td></tr>
<tr class="memdesc:a4ad63f6a50f4be8fc4cbf58e77373301 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set tilt slew rate (speed) (degrees/sec) if device supports it (see <a class="el" href="classArPTZ.html#a03c8f1ea4c5b669613a40db7b68d9a3e" title="Can pan and tilt speed (slew rates) be set to move device? ">canPanTiltSlew()</a>)  <a href="#a4ad63f6a50f4be8fc4cbf58e77373301">More...</a><br /></td></tr>
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<tr class="memitem:a924db75e9b7739125ea6ca9cc1dae9a3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a924db75e9b7739125ea6ca9cc1dae9a3"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a924db75e9b7739125ea6ca9cc1dae9a3">tilt</a> (double degrees)</td></tr>
<tr class="memdesc:a924db75e9b7739125ea6ca9cc1dae9a3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tilts to the given degrees. 0 is middle, - is downward, + is upwards. <br /></td></tr>
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<tr class="memitem:a8261c5ce26e3b38fec76268508529d92 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8261c5ce26e3b38fec76268508529d92"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a8261c5ce26e3b38fec76268508529d92">tiltRel</a> (double degrees)</td></tr>
<tr class="memdesc:a8261c5ce26e3b38fec76268508529d92 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tilts relative to the current position by given degrees. <br /></td></tr>
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<tr class="memitem:ac6253215273db093527abe6d517b9f95 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac6253215273db093527abe6d517b9f95"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac6253215273db093527abe6d517b9f95">zoom</a> (int zoomValue)</td></tr>
<tr class="memdesc:ac6253215273db093527abe6d517b9f95 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Zooms to the given value. <br /></td></tr>
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<tr class="memitem:add57c9d4bcd50226e130aabf3ce6dfec inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="add57c9d4bcd50226e130aabf3ce6dfec"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#add57c9d4bcd50226e130aabf3ce6dfec">zoomRel</a> (int zoomValue)</td></tr>
<tr class="memdesc:add57c9d4bcd50226e130aabf3ce6dfec inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Zooms relative to the current value, by the given value. <br /></td></tr>
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<tr class="memitem:ac385d830dd56f2fefc0d2c2739b943da inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac385d830dd56f2fefc0d2c2739b943da"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac385d830dd56f2fefc0d2c2739b943da">~ArPTZ</a> ()</td></tr>
<tr class="memdesc:ac385d830dd56f2fefc0d2c2739b943da inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a5edeca46750ae7d9b7f2309375dc2a9a"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a5edeca46750ae7d9b7f2309375dc2a9a">registerPTZType</a> ()</td></tr>
<tr class="memdesc:a5edeca46750ae7d9b7f2309375dc2a9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">called automatically by <a class="el" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73" title="Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...">Aria::init()</a>  <a href="#a5edeca46750ae7d9b7f2309375dc2a9a">More...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:ae270d313d705dd72d5320ff6b42dd57e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae270d313d705dd72d5320ff6b42dd57e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ae270d313d705dd72d5320ff6b42dd57e">panTilt_i</a> (double pdeg, double tdeg)</td></tr>
<tr class="memdesc:ae270d313d705dd72d5320ff6b42dd57e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move the pan and tilt axes. <br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>pan_i</b> (double deg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>panRel_i</b> (double deg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>tilt_i</b> (double deg)</td></tr>
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<tr class="memitem:ac53949c3200f1c416495881d00cc0059"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac53949c3200f1c416495881d00cc0059"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>tiltRel_i</b> (double deg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>panTiltRel_i</b> (double pdeg, double tdeg)</td></tr>
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<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:a0602e4b834bf091bbef3c08068d326d0"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a0602e4b834bf091bbef3c08068d326d0">getPan_i</a> (void) const </td></tr>
<tr class="memdesc:a0602e4b834bf091bbef3c08068d326d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current pan/tilt position, if receiving from device, otherwise return last position request sent to the device.  <a href="#a0602e4b834bf091bbef3c08068d326d0">More...</a><br /></td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getTilt_i</b> (void) const </td></tr>
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<tr class="inherit_header pro_methods_classArPTZ"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArPTZ')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArPTZ.html">ArPTZ</a></td></tr>
<tr class="memitem:af636ce588e4385b3dc7263f7fd7fad44 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af636ce588e4385b3dc7263f7fd7fad44">setLimits</a> (double maxPosPan, double maxNegPan, double maxPosTilt, double maxNegTilt, int maxZoom=0, int minZoom=0)</td></tr>
<tr class="memdesc:af636ce588e4385b3dc7263f7fd7fad44 inherit pro_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subclasses call this to set extents (limits) returned by <a class="el" href="classArPTZ.html#a1f3c4f0c3f0950c892e605ffec34bc86" title="Gets the highest positive degree the camera can pan to (inverted if camera is inverted) ...">getMaxPosPan()</a>, <a class="el" href="classArPTZ.html#a4dcefee2f9373bc949e9e205fbc7a505" title="Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) ...">getMaxNegPan()</a>, <a class="el" href="classArPTZ.html#adf6fb70e256999e62aa5c001f4a59596" title="Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) ...">getMaxPosTilt()</a>, <a class="el" href="classArPTZ.html#a389a3eb3ea39bd8f3cc706afb6e576d3" title="Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) ...">getMaxNegTilt()</a>, <a class="el" href="classArPTZ.html#adbe4dd5593dc638005a7c0dfbdd5de37" title="Gets the maximum value for the zoom on this camera. ">getMaxZoom()</a>, and <a class="el" href="classArPTZ.html#ae89a0e1f2458e59625c4849944b0c8ca" title="Gets the lowest value for the zoom on this camera. ">getMinZoom()</a>.  <a href="#af636ce588e4385b3dc7263f7fd7fad44">More...</a><br /></td></tr>
<tr class="separator:af636ce588e4385b3dc7263f7fd7fad44 inherit pro_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b81bc7ca8197caece2e8ee67b4ec374 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a9b81bc7ca8197caece2e8ee67b4ec374">getMaxPosPan_i</a> (void) const </td></tr>
<tr class="memdesc:a9b81bc7ca8197caece2e8ee67b4ec374 inherit pro_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Versions of the pan and tilt limit accessors where inversion is not applied, for use by subclasses to check when given pan/tilt commands.  <a href="#a9b81bc7ca8197caece2e8ee67b4ec374">More...</a><br /></td></tr>
<tr class="separator:a9b81bc7ca8197caece2e8ee67b4ec374 inherit pro_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a67a019a3f940263363d91e9939cb7768 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a67a019a3f940263363d91e9939cb7768"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPan_i</b> () const </td></tr>
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<tr class="memitem:a6879d3555c5cd0011a6cb0d8ce66416d inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6879d3555c5cd0011a6cb0d8ce66416d"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPosTilt_i</b> (void) const </td></tr>
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<tr class="memitem:a80dc08273250f9cd27142105c136cad6 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a80dc08273250f9cd27142105c136cad6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinPan_i</b> () const </td></tr>
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<tr class="memitem:acb70293df5458486ae6ca59308cbf351 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb70293df5458486ae6ca59308cbf351"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxNegPan_i</b> (void) const </td></tr>
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<tr class="memitem:a0b8d55542b21929eabd3dd65a400dce9 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0b8d55542b21929eabd3dd65a400dce9"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxTilt_i</b> () const </td></tr>
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<tr class="memitem:aa54f41c28b7cfc006348ba097ae0e339 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa54f41c28b7cfc006348ba097ae0e339"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxNegTilt_i</b> (void) const </td></tr>
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<tr class="memitem:ad6bbcd46ef3915b29543a9206d1e137d inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6bbcd46ef3915b29543a9206d1e137d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinTilt_i</b> () const </td></tr>
<tr class="separator:ad6bbcd46ef3915b29543a9206d1e137d inherit pro_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a87415804ec17deb8dae2400c7c0931"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a87415804ec17deb8dae2400c7c0931"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a5a87415804ec17deb8dae2400c7c0931">PowerMode</a> { <b>OFF</b> = 'O', 
<b>LOW</b> = 'L', 
<b>NORMAL</b> = 'R', 
<b>HIGH</b> = 'H'
 }<tr class="memdesc:a5a87415804ec17deb8dae2400c7c0931"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable/disable moving and holding power modes for pan and tilt. <br /></td></tr>
</td></tr>
<tr class="separator:a5a87415804ec17deb8dae2400c7c0931"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0f5f7c9d2d41eea12cd6ac0952bc87f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#af0f5f7c9d2d41eea12cd6ac0952bc87f">setMovePower</a> (Axis axis, <a class="el" href="classArDPPTU.html#a5a87415804ec17deb8dae2400c7c0931">PowerMode</a> mode)</td></tr>
<tr class="memdesc:af0f5f7c9d2d41eea12cd6ac0952bc87f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure power mode for an axis when in motion.  <a href="#af0f5f7c9d2d41eea12cd6ac0952bc87f">More...</a><br /></td></tr>
<tr class="separator:af0f5f7c9d2d41eea12cd6ac0952bc87f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7efeac64847d7789468d99fd5abcc37"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ab7efeac64847d7789468d99fd5abcc37">setHoldPower</a> (Axis axis, <a class="el" href="classArDPPTU.html#a5a87415804ec17deb8dae2400c7c0931">PowerMode</a> mode)</td></tr>
<tr class="memdesc:ab7efeac64847d7789468d99fd5abcc37"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure power mode for an axis when stationary.  <a href="#ab7efeac64847d7789468d99fd5abcc37">More...</a><br /></td></tr>
<tr class="separator:ab7efeac64847d7789468d99fd5abcc37"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adae588dad6b84ab1bcdc5199cf7b2594"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#adae588dad6b84ab1bcdc5199cf7b2594">offStatPower</a> (void)</td></tr>
<tr class="separator:adae588dad6b84ab1bcdc5199cf7b2594"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24ce83004c0343af062f435d03ede084"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a24ce83004c0343af062f435d03ede084">regStatPower</a> (void)</td></tr>
<tr class="separator:a24ce83004c0343af062f435d03ede084"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72baa70055f3b7820354047e20e51a52"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a72baa70055f3b7820354047e20e51a52">lowStatPower</a> (void)</td></tr>
<tr class="separator:a72baa70055f3b7820354047e20e51a52"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac62d46b7eac497b4286f5ca04f43029c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ac62d46b7eac497b4286f5ca04f43029c">highMotPower</a> (void)</td></tr>
<tr class="separator:ac62d46b7eac497b4286f5ca04f43029c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b065e351215a6283d908f60427a0cd6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a9b065e351215a6283d908f60427a0cd6">regMotPower</a> (void)</td></tr>
<tr class="separator:a9b065e351215a6283d908f60427a0cd6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7a5846e0dc4e8defb0582e98655dae6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#af7a5846e0dc4e8defb0582e98655dae6">lowMotPower</a> (void)</td></tr>
<tr class="separator:af7a5846e0dc4e8defb0582e98655dae6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f8ca779ee33538c90142eeea100945b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6f8ca779ee33538c90142eeea100945b"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
<tr class="separator:a6f8ca779ee33538c90142eeea100945b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75e29664aacfdc6bfaa1ce424000d8cb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75e29664aacfdc6bfaa1ce424000d8cb"></a>
<a class="el" href="classArDPPTUPacket.html">ArDPPTUPacket</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myPacket</b></td></tr>
<tr class="separator:a75e29664aacfdc6bfaa1ce424000d8cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a4b729bd06f560e33fecad0ec1ee23d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a4b729bd06f560e33fecad0ec1ee23d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a2a4b729bd06f560e33fecad0ec1ee23d">myPanSent</a></td></tr>
<tr class="memdesc:a2a4b729bd06f560e33fecad0ec1ee23d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last pan command sent. <br /></td></tr>
<tr class="separator:a2a4b729bd06f560e33fecad0ec1ee23d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef84a49aeebd40abd6035b19098fc8a4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef84a49aeebd40abd6035b19098fc8a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#aef84a49aeebd40abd6035b19098fc8a4">myTiltSent</a></td></tr>
<tr class="memdesc:aef84a49aeebd40abd6035b19098fc8a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last tilt command sent. <br /></td></tr>
<tr class="separator:aef84a49aeebd40abd6035b19098fc8a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47f48265d71d92aa585fab03be55cafb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a47f48265d71d92aa585fab03be55cafb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myPanSlew</b></td></tr>
<tr class="separator:a47f48265d71d92aa585fab03be55cafb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a968e9e05b953f43554a69d27a208a91a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a968e9e05b953f43554a69d27a208a91a"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myTiltSlew</b></td></tr>
<tr class="separator:a968e9e05b953f43554a69d27a208a91a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ecc43ec41601328b1d0a6332a2536d0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ecc43ec41601328b1d0a6332a2536d0"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myBasePanSlew</b></td></tr>
<tr class="separator:a0ecc43ec41601328b1d0a6332a2536d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a165f07575519185d061fadf3f342ade6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a165f07575519185d061fadf3f342ade6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myBaseTiltSlew</b></td></tr>
<tr class="separator:a165f07575519185d061fadf3f342ade6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a711116b33aa6c7375d17009b3eedd7fb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a711116b33aa6c7375d17009b3eedd7fb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myPanAccel</b></td></tr>
<tr class="separator:a711116b33aa6c7375d17009b3eedd7fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e6bef87115cc25a9e688b1e8fed1e2e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e6bef87115cc25a9e688b1e8fed1e2e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myTiltAccel</b></td></tr>
<tr class="separator:a7e6bef87115cc25a9e688b1e8fed1e2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd56fe05aec3eefd02ef9ee8e49e017e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acd56fe05aec3eefd02ef9ee8e49e017e"></a>
<a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321c">DeviceType</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDeviceType</b></td></tr>
<tr class="separator:acd56fe05aec3eefd02ef9ee8e49e017e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b1a38df5227e4d396cb6925d388b9d0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b1a38df5227e4d396cb6925d388b9d0"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxPanSlew</b></td></tr>
<tr class="separator:a6b1a38df5227e4d396cb6925d388b9d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58d2a505d6b5f3ce9f8e45ebe0e6c62e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a58d2a505d6b5f3ce9f8e45ebe0e6c62e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMinPanSlew</b></td></tr>
<tr class="separator:a58d2a505d6b5f3ce9f8e45ebe0e6c62e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d5e9ca2b236d044641085e2ba5c162a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4d5e9ca2b236d044641085e2ba5c162a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxTiltSlew</b></td></tr>
<tr class="separator:a4d5e9ca2b236d044641085e2ba5c162a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06230df99c5f216ef75a2b748f2cf159"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a06230df99c5f216ef75a2b748f2cf159"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMinTiltSlew</b></td></tr>
<tr class="separator:a06230df99c5f216ef75a2b748f2cf159"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6efa0766957677b2a5b16219809ed587"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6efa0766957677b2a5b16219809ed587"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxPanAccel</b></td></tr>
<tr class="separator:a6efa0766957677b2a5b16219809ed587"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8e47d37f03013279a93fae9a0bc5351"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8e47d37f03013279a93fae9a0bc5351"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMinPanAccel</b></td></tr>
<tr class="separator:aa8e47d37f03013279a93fae9a0bc5351"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fb69838955be9b06719ce703b1de8dd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8fb69838955be9b06719ce703b1de8dd"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxTiltAccel</b></td></tr>
<tr class="separator:a8fb69838955be9b06719ce703b1de8dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc8da1a4102eed3d292406d95fae00c3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adc8da1a4102eed3d292406d95fae00c3"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMinTiltAccel</b></td></tr>
<tr class="separator:adc8da1a4102eed3d292406d95fae00c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad34d9b94f0655462f182ea9160677f72"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad34d9b94f0655462f182ea9160677f72"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>myPanConvert</b></td></tr>
<tr class="separator:ad34d9b94f0655462f182ea9160677f72"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11829bb1065f36383f5a433178639435"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a11829bb1065f36383f5a433178639435"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>myTiltConvert</b></td></tr>
<tr class="separator:a11829bb1065f36383f5a433178639435"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27e9e6a91e9ceb718c904f0dd9e9e631"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a27e9e6a91e9ceb718c904f0dd9e9e631"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>myPan</b></td></tr>
<tr class="separator:a27e9e6a91e9ceb718c904f0dd9e9e631"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cf1ca6b54e47f7e3348af4a9cb2c745"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5cf1ca6b54e47f7e3348af4a9cb2c745"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a5cf1ca6b54e47f7e3348af4a9cb2c745">myPanRecd</a></td></tr>
<tr class="memdesc:a5cf1ca6b54e47f7e3348af4a9cb2c745"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last pan value received from DPPTU from PP command. <br /></td></tr>
<tr class="separator:a5cf1ca6b54e47f7e3348af4a9cb2c745"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe88dd10ba0d26a02c05ba6803362525"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afe88dd10ba0d26a02c05ba6803362525"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>myTilt</b></td></tr>
<tr class="separator:afe88dd10ba0d26a02c05ba6803362525"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5029080e1686c577327d1ceaa5cc9a0a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5029080e1686c577327d1ceaa5cc9a0a"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a5029080e1686c577327d1ceaa5cc9a0a">myTiltRecd</a></td></tr>
<tr class="memdesc:a5029080e1686c577327d1ceaa5cc9a0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last tilt value received from DPPTU from TP command. <br /></td></tr>
<tr class="separator:a5029080e1686c577327d1ceaa5cc9a0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5a308f095231a4e51fda47a2dba70af"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab5a308f095231a4e51fda47a2dba70af"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myCanGetRealPanTilt</b></td></tr>
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<tr class="memitem:aec2ad86070e4f147adbb534c430c9e67"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec2ad86070e4f147adbb534c430c9e67"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myInit</b></td></tr>
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<tr class="memitem:a7cef28d355c286dfd3d24a630592abc5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7cef28d355c286dfd3d24a630592abc5"></a>
<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArDPPTU.html">ArDPPTU</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myQueryCB</b></td></tr>
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<tr class="memitem:ab2c215952541a1b33a52668de809c54f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab2c215952541a1b33a52668de809c54f"></a>
char *&#160;</td><td class="memItemRight" valign="bottom"><b>myDataBuf</b></td></tr>
<tr class="separator:ab2c215952541a1b33a52668de809c54f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc9bab12beb0b93f2a1566088aae71f4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abc9bab12beb0b93f2a1566088aae71f4"></a>
<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArDPPTU.html">ArDPPTU</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myShutdownCB</b></td></tr>
<tr class="separator:abc9bab12beb0b93f2a1566088aae71f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4036e9a895568ecf75151ec01f2c7548"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4036e9a895568ecf75151ec01f2c7548"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myDeviceIndex</b></td></tr>
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<tr class="memitem:aa6b352765ee2a7558c9e7c5a48a9494e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa6b352765ee2a7558c9e7c5a48a9494e"></a>
<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myLastPositionMessageHandled</b></td></tr>
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<tr class="memitem:ac5db3d5871e93290ea61b7d92278815b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac5db3d5871e93290ea61b7d92278815b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myWarnedOldPositionData</b></td></tr>
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<tr class="memitem:a9252adc89b169928d8a00ce48852c97a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9252adc89b169928d8a00ce48852c97a"></a>
<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myLastQuerySent</b></td></tr>
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std::vector&lt; char &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myPowerPorts</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myGotPanRes</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myGotTiltRes</b></td></tr>
<tr class="separator:afb0f2bd7ea02a92f409a6ddf63fbae57"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6afdf14acf7240a9fc4d127ede7f982b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classArGlobalRetFunctor4.html">ArPTZConnector::GlobalPTZCreateFunc</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a6afdf14acf7240a9fc4d127ede7f982b">ourCreateFunc</a></td></tr>
<tr class="separator:a6afdf14acf7240a9fc4d127ede7f982b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae88d6a4f5d2c2df53951507e8ea5dca0"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ae88d6a4f5d2c2df53951507e8ea5dca0">getLastPanRequest</a> () const </td></tr>
<tr class="memdesc:ae88d6a4f5d2c2df53951507e8ea5dca0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get last pan/tilt requested. The device may still be moving towards these positions. (.  <a href="#ae88d6a4f5d2c2df53951507e8ea5dca0">More...</a><br /></td></tr>
<tr class="separator:ae88d6a4f5d2c2df53951507e8ea5dca0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getLastTiltRequest</b> () const </td></tr>
<tr class="separator:a333cee3014b0025bcc6ed8849fa50767"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac07eface207086e7d72d1e8084557c68"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac07eface207086e7d72d1e8084557c68"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ac07eface207086e7d72d1e8084557c68">getPanSlew</a> (void)</td></tr>
<tr class="memdesc:ac07eface207086e7d72d1e8084557c68"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the current pan slew. <br /></td></tr>
<tr class="separator:ac07eface207086e7d72d1e8084557c68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4cfcf38e7a49299409e5c030536f759"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad4cfcf38e7a49299409e5c030536f759"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ad4cfcf38e7a49299409e5c030536f759">getTiltSlew</a> (void)</td></tr>
<tr class="memdesc:ad4cfcf38e7a49299409e5c030536f759"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the current tilt slew. <br /></td></tr>
<tr class="separator:ad4cfcf38e7a49299409e5c030536f759"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ef2af9cbfc7ac7d6927cffd3d7ea639"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9ef2af9cbfc7ac7d6927cffd3d7ea639"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a9ef2af9cbfc7ac7d6927cffd3d7ea639">getBasePanSlew</a> (void)</td></tr>
<tr class="memdesc:a9ef2af9cbfc7ac7d6927cffd3d7ea639"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the base pan slew. <br /></td></tr>
<tr class="separator:a9ef2af9cbfc7ac7d6927cffd3d7ea639"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b614d5d46ffea31bba656b623bfc09c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4b614d5d46ffea31bba656b623bfc09c"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a4b614d5d46ffea31bba656b623bfc09c">getBaseTiltSlew</a> (void)</td></tr>
<tr class="memdesc:a4b614d5d46ffea31bba656b623bfc09c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the base tilt slew. <br /></td></tr>
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<tr class="memitem:ab28a16c0cd2c3ea0accea348efe55cd9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab28a16c0cd2c3ea0accea348efe55cd9"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#ab28a16c0cd2c3ea0accea348efe55cd9">getPanAccel</a> (void)</td></tr>
<tr class="memdesc:ab28a16c0cd2c3ea0accea348efe55cd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the current pan acceleration rate. <br /></td></tr>
<tr class="separator:ab28a16c0cd2c3ea0accea348efe55cd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc34c0cdf92c3f1cf07aa3a7f453b6e2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afc34c0cdf92c3f1cf07aa3a7f453b6e2"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#afc34c0cdf92c3f1cf07aa3a7f453b6e2">getTiltAccel</a> (void)</td></tr>
<tr class="memdesc:afc34c0cdf92c3f1cf07aa3a7f453b6e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the current tilt acceleration rate. <br /></td></tr>
<tr class="separator:afc34c0cdf92c3f1cf07aa3a7f453b6e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ab83f5f282c3bdbd30e6eb1a0817331"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4ab83f5f282c3bdbd30e6eb1a0817331"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>query</b> ()</td></tr>
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<tr class="memitem:a75bbeb6dbe4b00bc2d749745b6f81b89"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75bbeb6dbe4b00bc2d749745b6f81b89"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a75bbeb6dbe4b00bc2d749745b6f81b89">preparePacket</a> (void)</td></tr>
<tr class="memdesc:a75bbeb6dbe4b00bc2d749745b6f81b89"><td class="mdescLeft">&#160;</td><td class="mdescRight">adds on extra delim in front to work on H8 <br /></td></tr>
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<tr class="memitem:ae5ea668077ac347e0a38b97e6e83bcc6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae5ea668077ac347e0a38b97e6e83bcc6"></a>
virtual <a class="el" href="classArBasePacket.html">ArBasePacket</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>readPacket</b> ()</td></tr>
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<tr class="memitem:aa5f8e95ba6227312163d47972b55b7d8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa5f8e95ba6227312163d47972b55b7d8"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>shutdown</b> ()</td></tr>
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<tr class="memitem:a7a6c2387f8d60f70ef24bee509c1f09f"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classArPTZ.html">ArPTZ</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArDPPTU.html#a7a6c2387f8d60f70ef24bee509c1f09f">create</a> (size_t index, <a class="el" href="classArPTZParams.html">ArPTZParams</a> params, <a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *parser, <a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_attribs_classArPTZ"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classArPTZ')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classArPTZ.html">ArPTZ</a></td></tr>
<tr class="memitem:a9db0c3b403736cf4f1381c8f5248d19e inherit pro_attribs_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9db0c3b403736cf4f1381c8f5248d19e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myAuxPort</b></td></tr>
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<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4">ArCommands::Commands</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myAuxRxCmd</b></td></tr>
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<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4">ArCommands::Commands</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myAuxTxCmd</b></td></tr>
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<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myConn</b></td></tr>
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<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArPTZ.html">ArPTZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myConnectCB</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myInverted</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxNegPan</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxNegTilt</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxPosPan</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxPosTilt</b></td></tr>
<tr class="separator:ad77f686b2b773b796519395340322bde inherit pro_attribs_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe96a9ae77b3f95fa7bc52256e3b9246 inherit pro_attribs_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abe96a9ae77b3f95fa7bc52256e3b9246"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxZoom</b></td></tr>
<tr class="separator:abe96a9ae77b3f95fa7bc52256e3b9246 inherit pro_attribs_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac791d499f3e35fd042e278967e9ef0e inherit pro_attribs_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aac791d499f3e35fd042e278967e9ef0e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myMinZoom</b></td></tr>
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<tr class="memitem:aa57a07b1335421b0ba422ec602293ec6 inherit pro_attribs_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa57a07b1335421b0ba422ec602293ec6"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
<tr class="separator:aa57a07b1335421b0ba422ec602293ec6 inherit pro_attribs_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a class="el" href="classArRetFunctor1C.html">ArRetFunctor1C</a>&lt; bool, <a class="el" href="classArPTZ.html">ArPTZ</a>, <a class="el" href="classArRobotPacket.html">ArRobotPacket</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotPacketHandlerCB</b></td></tr>
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<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArPTZ.html">ArPTZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mySensorInterpCB</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Driver for the DPPTU. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="dpptuExample_8cpp-example.html#_a3">dpptuExample.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Member Enumeration Documentation</h2>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a7777a8c7419aaadd5a31aa7e90b4321ca002100fdca0caded94de852b5b6a5197"></a>PANTILT_DEFAULT&#160;</td><td class="fielddoc">
<p>Automatically detect correct settings. </p>
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<tr><td class="fieldname"><a class="anchor" id="a7777a8c7419aaadd5a31aa7e90b4321ca029fca3bc395e885d3e3e9364305a508"></a>PANTILT_PTUD47&#160;</td><td class="fielddoc">
<p>Force settings for PTU-D47. </p>
<dl class="section since"><dt>Since</dt><dd>2.7.0 </dd></dl>
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<tr><td class="fieldname"><a class="anchor" id="a7777a8c7419aaadd5a31aa7e90b4321cabfa01db559586814bf1bd9119ac07d60"></a>PANTILT_PTUD46&#160;</td><td class="fielddoc">
<p>Force settings for PTU-D46. </p>
<dl class="section since"><dt>Since</dt><dd>2.7.5 </dd></dl>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="paramname"><em>deviceType</em> = <code><a class="el" href="classArDPPTU.html#a7777a8c7419aaadd5a31aa7e90b4321ca002100fdca0caded94de852b5b6a5197">PANTILT_DEFAULT</a></code>, </td>
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<p>Constructor. </p>
<p><em>deviceType</em> If a type other than PANTILT_DEFAULT is given, then manually selects different parameters for different DPPTU models.</p>
<p>It is recommended to use PANTILT_DEFAULT (unless your PTU is not responding to resolution queries for some reason)</p>
<p><em>deviceIndex</em> if you have more than one PTU on a Seekur robot, this specifies one device to power on at startup and power off on exit. If -1 (default value), then all possible PTU power ports are powered on. </p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Sends a delimiter only. </p>
<p>A blank packet can be sent to exit monitor mode. </p>

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          <td class="memname"><a class="el" href="classArPTZ.html">ArPTZ</a> * ArDPPTU::create </td>
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          <td class="paramtype"><a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *&#160;</td>
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<dl class="section since"><dt>Since</dt><dd>2.7.6 </dd></dl>

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<p>Change stored configuration options. </p>
<p>Configure DPPTU to disable future power-on resets </p>

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<p>Get last pan/tilt requested. The device may still be moving towards these positions. (. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArPTZ.html#a9d76370937c1cb2170e7a07a0157d949" title="The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan positio...">getPan()</a>, <a class="el" href="classArPTZ.html#ae9f4ff90958537f6bdc095e9ed12ebe6" title="The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan positio...">getTilt()</a>, canGetRealPanTilt()) </dd></dl>

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<p>Get current pan/tilt position, if receiving from device, otherwise return last position request sent to the device. </p>
<dl class="section see"><dt>See also</dt><dd>canGetRealPanTilt() </dd></dl>

<p>Implements <a class="el" href="classArPTZ.html">ArPTZ</a>.</p>

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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000029">Deprecated:</a></b></dt><dd></dd></dl>

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<p>Set execution modes. </p>
<p>Sets unit to immediate-execution mode for positional commands. Commands will be executed by PTU as soon as they are received. </p>

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<p>Implements <a class="el" href="classArPTZ.html#adc51dbc6919fc6cde0e04985246c6a61">ArPTZ</a>.</p>

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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000031">Deprecated:</a></b></dt><dd></dd></dl>

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<p>called automatically by <a class="el" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73" title="Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...">Aria::init()</a> </p>
<dl class="section since"><dt>Since</dt><dd>2.7.6 </dd></dl>

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<p>Configure power mode for an axis when stationary. </p>
<p><a class="el" href="classArDPPTU.html#ab51e889c328177c8d3fbacbdacb21b20">init()</a> sets the initial halted power to Off. Call this method to choose a different mode. The recommended modes are Off or Low. </p>

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<p>Configure power mode for an axis when in motion. </p>
<p><a class="el" href="classArDPPTU.html#ab51e889c328177c8d3fbacbdacb21b20">init()</a> sets initial moving power mode to Low, call this method to choose a different mode. The recomended modes are either Low or Normal. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<dl class="section since"><dt>Since</dt><dd>2.7.6 </dd></dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArDPPTU.h</li>
<li>ArDPPTU.cpp</li>
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